Anubhav Singh's profile - activity

I am doing MP in simulation. Also, setting use_sim_time=true. Not using multiple machines but running in Virtual box.

Failed to receive current joint state Hi, I am working on the motion planning of a 6 DOF robotic arm using ROS (noetic)

Failed to receive current joint state Hi, I am working on the motion planning of a 6 DOF robotic arm using ROS (noetic)

Controller failed with error code PATH_TOLERANCE_VIOLATED. Hey, I hope you guys are doing well! I am trying to move my r

Modifications made to correctly orient the Point cloud data: <1> Change link name from link to camera_link in abo

Correction made to correctly orient the Point cloud data: <1> Modify link name from link to camera_link in above

Thanks for the help.

Hey, I am trying to correctly orient the pointcloud data coming from a Kinect 3D camera sensor Gazebo model into the Rviz, but it's not working.

In Gazebo, a Pose is of the form:

<pose> x y z roll pitch yaw </pose>

But, input to the static_transform_publisher node is of the form:

static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms

I tried both the forms, but the pointcloud orientation is still incorrect. I have attached the output of both the versions below.

Kinect's Gazebo model

<model name="kinect">
      <static>true</static>
      <pose>1.274070 -0.011558 1.961223 0.021866 0.611102 -3.121294</pose>
      <link name="link">
        <inertial>
          <mass>0.1</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.073000 0.276000 0.072000</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <mesh>
              <uri>model://kinect/meshes/kinect.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <sensor name='camera' type='depth'>
          <update_rate>20</update_rate>
          <camera name='__default__'>
            <horizontal_fov>1.0472</horizontal_fov>
            <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.05</near>
              <far>3</far>
            </clip>
          </camera>
          <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">
            <baseline>0.1</baseline>
            <alwaysOn>true</alwaysOn>
            <updateRate>15.0</updateRate>
            <cameraName>camera</cameraName>
            <imageTopicName>/camera/rgb/image_raw</imageTopicName>
            <cameraInfoTopicName>/camera/rgb/camera_info</cameraInfoTopicName>
            <depthImageTopicName>/camera/depth_registered/image_raw</depthImageTopicName>
            <depthImageCameraInfoTopicName>/camera/depth_registered/camera_info</depthImageCameraInfoTopicName>
            <pointCloudTopicName>/camera/depth_registered/points</pointCloudTopicName>
            <frameName>camera_rgb_optical_frame</frameName>
            <distortion_k1>0.00000001</distortion_k1>
            <distortion_k2>0.00000001</distortion_k2>
            <distortion_k3>0.00000001</distortion_k3>
            <distortion_t1>0.00000001</distortion_t1>
            <distortion_t2>0.00000001</distortion_t2>
            <pointCloudCutoff>0.35</pointCloudCutoff>
            <pointCloudCutoffMax>4.5</pointCloudCutoffMax>
            <CxPrime>0</CxPrime>
            <Cx>0</Cx>
            <Cy>0</Cy>
            <focalLength>0</focalLength>
            <hackBaseline>0</hackBaseline>
          </plugin>
        </sensor>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
    </model>

World to camera_rgb_optical_frame transform using TF

<node   name="kinect_static_transform_publisher"    
        pkg="tf" 
        type="static_transform_publisher" 
        args="1.274070 -0.011558 1.961223 0.021866 0.611102 -3.121294 world camera_rgb_optical_frame 100"/>

<node   name="kinect_static_transform_publisher"    
            pkg="tf" 
            type="static_transform_publisher" 
            args="1.274070 -0.011558 1.961223 -3.121294 0.611102 0.021866 world camera_rgb_optical_frame 100"/>

I would really appreciate some help/guidance on this issue.

Thanks for the help, this definitely helped me.

Wrong Pointcloud Orientation in Rviz Hey, I am trying to correctly orient the pointcloud data coming from a Kinect 3D ca

Just go through this link and try to install ros wrappers for intel realsense 3d camera. In order to use the camera with

Just go through this link and try to install ros wrappers for intel realsense 3d camera. In order to use the camera with

Are you doing simulation or real robot ? Is the camera attached on robot or fixed outside the body of robot ? Which 3D c

Are you doing simulation or real robot ? Is the camera attached on robot or fixed outside the body of robot ? Which 3D c

Are you doing simulation or real robot ?

Rviz is crashing on changing global fixed frame Hey, I hope you all are doing well. I am trying to run the demo.launch

Rviz is crashing on changing global fixed frame Hey, I hope you all are doing well. I am trying to run the demo.launch

Rviz is crashing on changing global fixed frame Hey, I hope you all are doing well. I am trying to run the demo.launch

Rviz is crashing on changing global fixed frame Hey, I hope you all are doing well. I am trying to run the demo.launch

Rviz is crashing on changing global fixed frame Hey, I hope you all are doing well. I am trying to run the demo.launch

Rviz is crashing on changing global fixed frame Hey, I hope you all are doing well. I am trying to run the demo.launch

Thanks for replying. I am trying your suggestions, will update you on that.

https://www.ros.org/reps/rep-0103.html

yes something like this, although in your case since you are getting only x,y,z values, so your quat woud be 0,0,0,1

For the last part you can use YOLO to get the centroid of the detected object and using that (x,y) get the z from the ca

for the first part, once go through this link. When you are opening 3D camera using ROS then check the camera topic usi

for the first part, once go through this link. When you are opening 3D camera using ROS then check the camera topic usi

for the first part, once go through this link. When you are opening 3D camera using ROS then check the camera topic usi

for the first part, once go through this link. When you are opening 3D camera using ROS then check the camera topic usi

for the first part, once go through this link. When you are opening 3D camera using ROS then check the camera topic us

Also as far as getting the object's x,y,z is concerned use some computer vision algorithm to detect the centroid of the

Also as far as getting the object's x,y,z is concerned used some computer vision algorithm to detect the centroid of th

The camera must be publishing data with respect to a camera related frame of reference like camera_link. You don't need